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Improvements to SITL to make paths more flexible. (#5181) (#5255)

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* Path cleanup for SITL.

* Restructured sitl scripts dir.

* Set integration tests to use ekf2 for vtol.

* Fix sitl paths for mac.
This commit is contained in:
Lorenz Meier
2016-08-25 21:47:45 +02:00
committed by GitHub
parent 61f7470e7e
commit f511d49cc2
35 changed files with 527 additions and 346 deletions
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src/firmware/posix/CMakeLists.txt
+62 -12
View File
@@ -118,17 +118,43 @@ else()
endif()
endif()
#=============================================================================
# sitl run targets
#
set(SITL_WORKING_DIR ${PX4_BINARY_DIR}/tmp)
file(MAKE_DIRECTORY ${SITL_WORKING_DIR})
add_custom_target(run_config
COMMAND Tools/sitl_run.sh "${config_sitl_rcS}" "${config_sitl_debugger}"
"${config_sitl_viewer}" "${config_sitl_model}" "${PX4_BINARY_DIR}"
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
COMMAND Tools/sitl_run.sh
$<TARGET_FILE:px4>
${config_sitl_rcS_dir}
${config_sitl_debugger}
${config_sitl_viewer}
${config_sitl_model}
${PX4_SOURCE_DIR}
${PX4_BINARY_DIR}
WORKING_DIRECTORY ${SITL_WORKING_DIR}
USES_TERMINAL
)
add_dependencies(run_config px4)
foreach(viewer none jmavsim gazebo replay)
foreach(debugger none gdb lldb ddd valgrind)
foreach(model none iris iris_opt_flow tailsitter standard_vtol plane solo typhoon_h480)
# project to build sitl_gazebo if necessary
ExternalProject_Add(sitl_gazebo
SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/sitl_gazebo
CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
BINARY_DIR ${PX4_BINARY_DIR}/build_gazebo
INSTALL_COMMAND ""
)
set_target_properties(sitl_gazebo PROPERTIES EXCLUDE_FROM_ALL TRUE)
# create targets for each viewer/model/debugger combination
set(viewers none jmavsim gazebo replay)
set(debuggers none gdb lldb ddd valgrind)
set(models none iris iris_opt_flow tailsitter standard_vtol plane solo typhoon_h480)
foreach(viewer ${viewers})
foreach(debugger ${debuggers})
foreach(model ${models})
if (debugger STREQUAL "none")
if (model STREQUAL "none")
set(_targ_name "${viewer}")
@@ -143,13 +169,20 @@ foreach(viewer none jmavsim gazebo replay)
endif()
endif()
add_custom_target(${_targ_name}
COMMAND Tools/sitl_run.sh "${config_sitl_rcS}"
"${debugger}"
"${viewer}" "${model}" "${PX4_BINARY_DIR}"
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
$<TARGET_FILE:px4>
${config_sitl_rcS_dir}
${debugger}
${viewer}
${model}
${PX4_SOURCE_DIR}
${PX4_BINARY_DIR}
WORKING_DIRECTORY ${SITL_WORKING_DIR}
USES_TERMINAL
)
add_dependencies(${_targ_name} px4)
if (viewer STREQUAL "gazebo")
add_dependencies(${_targ_name} sitl_gazebo)
endif()
endforeach()
endforeach()
endforeach()
@@ -158,8 +191,25 @@ endforeach()
# install
#
install(TARGETS px4 DESTINATION bin)
install(TARGETS px4 DESTINATION ${CMAKE_INSTALL_BINDIR})
install(DIRECTORY ${PROJECT_SOURCE_DIR}/ROMFS DESTINATION ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME})
install(DIRECTORY ${PROJECT_SOURCE_DIR}/posix-configs DESTINATION ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME})
#=============================================================================
# tests
#
add_test(NAME rcS_tests
COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
$<TARGET_FILE:px4>
posix-configs/SITL/init/test
none
none
none
${PX4_SOURCE_DIR}
${PX4_BINARY_DIR}
WORKING_DIRECTORY ${SITL_WORKING_DIR})
set_tests_properties(rcS_tests PROPERTIES
PASS_REGULAR_EXPRESSION "All tests passed")
# vim: set noet ft=cmake fenc=utf-8 ff=unix :